I am planning to try the dual sonar option on the latest ardurover version. I am following the instructions on this forum. Does the dual sonar work ? My max vehicle speed is 2.1 m/s so I think it should be fine. Comments ?
Also, is there anyone using a RTK GPS with ardurover. I understand there is some issue with hires waypoints that Tridge is busy solving. From the internet chatter I think that Piksi is not ready for prime time but perhaps someone has used a commercial cm-level GPS ?
Replies
are your rover works perfect...my rover does not...im having apm2.6 and install sonar in to it but its not working though..you have any suggestion...please
@Don,
Need to know a few things;
What model sonar?
How many sonar?
Where is the sonar connected (Ax) on the APM?
A copy of your full parameter file as a text file or a screen shot of your rangefinder parameters so that we can help troubleshoot your issue.
Regards,
TCIII AVD
Thanks for the replay, :)
1. my sonar is [LV MaxSonar-EZ0][MB1000].
2. I have only One sonar located in front of the rover 10degree angle up.
3. Connected to A0.
4. also, when i try to make waypoint[ i used AUTO mode] the rover is not going to the waypoint instead his going somewhere far from the waypoint.
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#NOTE: 4/25/2015 11:22:24 AM Frame :APM2.6 ROVER
AHRS_COMP_BETA,0
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0
AHRS_TRIM_Y,0
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
AUTO_KICKSTART,0
AUTO_TRIGGER_PIN,-1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,17
BATT_CAPACITY,3500
BATT_CURR_PIN,12
BATT_MONITOR,4
BATT_VOLT_MULT,10.1
BATT_VOLT_PIN,13
BATT2_AMP_OFFSET,0
BATT2_AMP_PERVOL,17
BATT2_CAPACITY,3300
BATT2_CURR_PIN,12
BATT2_MONITOR,0
BATT2_VOLT_MULT,10.1
BATT2_VOLT_PIN,13
BRAKING_PERCENT,0
BRAKING_SPEEDERR,3
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPTION,1
COMPASS_AUTODEC,1
COMPASS_DEC,0
COMPASS_EXTERNAL,1
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOTCT,0
COMPASS_OFS_X,180
COMPASS_OFS_Y,56
COMPASS_OFS_Z,-1
COMPASS_ORIENT,8
COMPASS_USE,1
CRUISE_SPEED,1
CRUISE_THROTTLE,30
FORMAT_VERSION,16
FS_ACTION,2
FS_GCS_ENABLE,0
FS_THR_ENABLE,1
FS_THR_VALUE,1080
FS_TIMEOUT,5
GND_ABS_PRESS,100822.7
GND_ALT_OFFSET,0
GND_TEMP,25.20327
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_SBAS_MODE,2
GPS_TYPE,1
INITIAL_MODE,0
INS_ACCEL_FILTER,10
INS_ACCOFFS_X,0
INS_ACCOFFS_Y,0
INS_ACCOFFS_Z,0
INS_ACCSCAL_X,1
INS_ACCSCAL_Y,1
INS_ACCSCAL_Z,1
INS_GYRO_FILTER,10
INS_GYROFFS_X,0.0005720178
INS_GYROFFS_Y,-0.06054613
INS_GYROFFS_Z,-0.01622935
INS_PRODUCT_ID,88
LEARN_CH,7
LOG_BITMASK,4078
MAG_ENABLE,1
MIS_RESTART,1
MIS_TOTAL,3
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_DEFLT_MODE,3
MNT_JSTICK_SPD,0
MNT_K_RATE,5
MNT_LEAD_PTCH,0
MNT_LEAD_RLL,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_OFF_ACC_X,0
MNT_OFF_ACC_Y,0
MNT_OFF_ACC_Z,0
MNT_OFF_GYRO_X,0
MNT_OFF_GYRO_Y,0
MNT_OFF_GYRO_Z,0
MNT_OFF_JNT_X,0
MNT_OFF_JNT_Y,0
MNT_OFF_JNT_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
MNT_TYPE,0
MODE_CH,8
MODE1,3
MODE2,2
MODE3,2
MODE4,2
MODE5,2
MODE6,0
NAVL1_DAMPING,0.75
NAVL1_PERIOD,8
PIVOT_TURN_ANGLE,15
RC1_DZ,30
RC1_MAX,1901
RC1_MIN,1101
RC1_REV,-1
RC1_TRIM,1545
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,0
RC2_FUNCTION,0
RC2_MAX,1498
RC2_MIN,1497
RC2_REV,1
RC2_TRIM,1498
RC3_DZ,30
RC3_MAX,1897
RC3_MIN,1097
RC3_REV,1
RC3_TRIM,1385
RC4_DZ,0
RC4_FUNCTION,0
RC4_MAX,1498
RC4_MIN,1497
RC4_REV,1
RC4_TRIM,1498
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1553
RC5_MIN,1552
RC5_REV,1
RC5_TRIM,1552
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1498
RC6_MIN,1497
RC6_REV,1
RC6_TRIM,1498
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1100
RC7_MIN,1098
RC7_REV,1
RC7_TRIM,1099
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1103
RC8_MIN,1098
RC8_REV,1
RC8_TRIM,1100
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,13
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RNGFND_DEBOUNCE,6 <----------- here i start for range finder setting
RNGFND_FUNCTION,0
RNGFND_MAX_CM,600
RNGFND_MIN_CM,30
RNGFND_OFFSET,0
RNGFND_PIN,0
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3.65
RNGFND_SETTLE,30
RNGFND_STOP_PIN,1
RNGFND_TRIGGR_CM,60
RNGFND_TURN_ANGL,15
RNGFND_TURN_TIME,0.2
RNGFND_TYPE,1
RNGFND2_FUNCTION,0
RNGFND2_MAX_CM,700
RNGFND2_MIN_CM,20
RNGFND2_OFFSET,0
RNGFND2_PIN,-1
RNGFND2_RMETRIC,1
RNGFND2_SCALING,2.04
RNGFND2_SETTLE,50
RNGFND2_STOP_PIN,1
RNGFND2_TYPE,1
RSSI_PIN,-1
RST_SWITCH_CH,0
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_PROTOCOL,5
SKID_STEER_IN,0
SKID_STEER_OUT,0
SKIP_GYRO_CAL,0
SPEED_TURN_DIST,2
SPEED_TURN_GAIN,35
SPEED2THR_D,0.2
SPEED2THR_I,0.2
SPEED2THR_IMAX,4000
SPEED2THR_P,0.7
SR0_EXT_STAT,2
SR0_EXTRA1,10
SR0_EXTRA2,10
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,3
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,2
SR1_EXTRA2,2
SR1_EXTRA3,2
SR1_PARAMS,10
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,2
STEER2SRV_D,0.1
STEER2SRV_I,0.1
STEER2SRV_IMAX,1500
STEER2SRV_MINSPD,1
STEER2SRV_P,1.5
STEER2SRV_TCONST,0.75
SYS_NUM_RESETS,69
SYSID_MYGCS,255
SYSID_SW_TYPE,20
SYSID_THISMAV,1
TELEM_DELAY,0
THR_MAX,65
THR_MIN,30
THR_SLEWRATE,100
TURN_MAX_G,2
WP_RADIUS,2
@Don,
Why do you have RNGFND_DEBOUNCE set to 6. Two (2) at the most.
Also, have you verified that the three conductor connector is inserted correctly as far as polarity is concerned?
Regards,
TCIII AVD
ok...i change now to 2 as default settings..how about other stuff is it ok?
i also order one more SONAR from sparkfun...to make it more stable...i already made it work,
but i have some question;
1. In waypoint mode if there is any obstacle are the sonar avoid those things?
2. On Auto mode...i Set a Waypoint like 3 points to go...the rover is not going to desire Points, instead his going somewhere else far from the waypoint i set.
3. On learning mode..what i did is [ I set the Radio to Learning Mode][then channel7 is in low pos.][when i get to the desire location i switch channel 7 to high then low and drive again] am right in this procedure or wrong?
Thanks in Advance Guys
Hi Don. This is Cody from MaxBotix Inc.
I noticed that you have said, "i already made it work." However, I would like to verify that you have no further issues as far as the sensor on your rover is concerned.
I am more than happy to help with any technical issues you may have with your sensors.
Have a great day!
Hi Cody....hence its reading something i thing i dont hve any problem with it.
I just order 1 more sonar on maxbotix...to be added to my rover and let see if that well make things perfect
@Don,
Have you verified that you have 5vdc at the appropriate pin on the sonar board and that you do not have the three pin connector reversed on the APM A0 connector?
Try checking the "reverse" box next to the aileron (roll) joystick bar in the Mission Planner Radio Calibration screen to see if that helps with navigation to your first waypoint.
Regards,
TCIII AVD
i did those things....i have some issue on waypoit...
Your RC1_REV is set to -1 which means its reversed. Is it meant to be reversed? Try setting it to 1 and then doing the auto navigation to a waypoint again.
Thanks, Grant.
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